EP3996879B1 - Exosquelette doté d'un actionneur pneumatique - Google Patents

Exosquelette doté d'un actionneur pneumatique Download PDF

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Publication number
EP3996879B1
EP3996879B1 EP20742181.9A EP20742181A EP3996879B1 EP 3996879 B1 EP3996879 B1 EP 3996879B1 EP 20742181 A EP20742181 A EP 20742181A EP 3996879 B1 EP3996879 B1 EP 3996879B1
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EP
European Patent Office
Prior art keywords
compressed air
pneumatic actuator
exoskeleton
support mode
pneumatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20742181.9A
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German (de)
English (en)
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EP3996879A2 (fr
Inventor
Robert Weidner
Bernward OTTEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exoiq GmbH
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Exoiq GmbH
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Publication of EP3996879A2 publication Critical patent/EP3996879A2/fr
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Publication of EP3996879B1 publication Critical patent/EP3996879B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

Definitions

  • the present invention relates to an exoskeleton with a pneumatic actuator.
  • Exoskeletons are body-worn support systems and can be used to support, reinforce, stabilize or extend a user's movements. In particular, the execution of movements and, above all, the performance of activities in an ergonomically unfavorable posture can be supported.
  • exoskeletons often have a mechanical structure with serially coupled elements and at least one point of contact on the body where force is transmitted between the exoskeleton and the user's body.
  • an exoskeleton also has at least one additional point of attack on the body, where the force absorbed at the other point of attack is released again. In this way, a flow of force parallel to the human skeletal system can be built up, which allows the load on the human musculoskeletal system to be reduced at certain points.
  • a robot device with legs which comprises a plurality of support elements which are coupled to one another for a relative movement and define a plurality of degrees of freedom, wherein at least one of the plurality of degrees of freedom corresponds to at least one degree of freedom of a human leg.
  • the robotic device further includes a double-acting actuator for applying force or torque to the support members in the at least one of the plurality of degrees of freedom, and a potential energy storage mechanism associated with the at least one of the plurality of degrees of freedom operable to generate potential energy Store energy through relative movement of the support elements in the at least one of the plurality of degrees of freedom and provide at least a portion of the stored potential energy as a balancing force or torque to the support elements to assist the actuator, the potential energy storage mechanism comprising an air spring , which is configured to act selectively as a pneumatic actuator and/or as a pneumatic damper, wherein the air spring is configured to vary a To facilitate spring rate, a zero position and / or a preload, and wherein the zero position and the spring rate are dynamically variable.
  • a double-acting actuator for applying force or torque to the support members in the at least one of the plurality of degrees of freedom
  • a potential energy storage mechanism associated with the at least one of the plurality of degrees of freedom operable to generate potential energy Store
  • an exoskeleton comprises a first exoskeleton element, a second exoskeleton element, a first pneumatic actuator which is mechanically connected to the first exoskeleton element and the second exoskeleton element is, and a control unit which is set up to switch between a first active support mode and a first passive support mode in which the first pneumatic actuator is not vented into the environment when controlling the first pneumatic actuator, the control unit being further set up to to switch from the first passive support mode to the first active support mode when a pressure level that can be provided in the first passive support mode is away from a target pressure level dependent on the movement carried out or a pose taken by more than a threshold value, and a release of compressed air to the environment or a To effect supply of compressed air from a compressed air source to the first pneumatic actuator.
  • exoskeleton as used in the context of the present description and the claims, is to be understood as meaning a mechanical structure with serially coupled elements that is set up to be connected to a user’s body.
  • exoskeleton element as used in the context of the present description and the claims is to be understood in particular as meaning a rigid component that is coupled in an articulated manner to a frame of the exoskeleton or another rigid component.
  • control unit as used in the context of the present description and the claims, is to be understood in particular as meaning an electronic circuit (e.g. a microcontroller or a processor) which, for example, receives status signals from sensors, from the status signals derives control signals according to logic and transmits the control signals to actuators (e.g. electro-pneumatic valves, compressors, etc.).
  • actuators e.g. electro-pneumatic valves, compressors, etc.
  • the term "pneumatic actuator”, as used in the context of the present description and the claims, is to be understood in particular as an actuator which has a pressure chamber in which, for example, a one-sided or two-sided actuated cylinder is slidably mounted, whereby a displacement of the cylinder and thus a performance of mechanical work can be effected by supplying compressed air into the pressure chamber (s).
  • active support mode as used in the context of the present description and the claims, is to be understood in particular as a support mode in which compressed air is “consumed” by releasing compressed air from the pressure chamber of the pneumatic actuator to the environment .
  • bypassive support mode is to be understood as meaning a support mode in which no compressed air is "consumed”, that is to say that the compressed air may be taken from the pressure chamber of the pneumatic Actuator flows out, but is not (immediately) released into the environment.
  • switching between the passive and the active support mode in particular includes ending the passive support mode and starting the active support mode or ending the active support mode and that Starting the passive support mode, so that the exoskeleton does not "consume” compressed air in certain phases in which the passive support mode is active and “consumes” compressed air in other phases in which the active support mode is active. It goes without saying that in the active support mode there is greater freedom in terms of adapting the support force to a specific movement/pose than in the passive support mode, in which the pneumatic actuator is not vented into the environment.
  • pressure level is to be understood in particular as meaning a pressure level in a pressure chamber of the pneumatic actuator.
  • active support mode energy (in the form of compressed air) can be supplied to the pneumatic system from outside.
  • the control unit can control the force acting at a point of application between the exoskeleton and the body (possibly depending on a large number of parameters) by supplying compressed air to a pressure chamber or diverting compressed air from a pressure chamber.
  • the active support mode (compared to the passive support mode) is characterized by greater flexibility in terms of generating a support that is tailored to the user's problem and the support situation, for example with regard to the activity to be carried out (light or heavy tool, picking up or releasing an object) or the physiological requirements (strength curves etc.), adapted support force.
  • this requires an energy concept in which not only the pneumatic energy is stored (as in passive support mode), but also pneumatic energy is released into the environment or fed to the pneumatic system and the energy flow in the pneumatic system is monitored and regulated.
  • control unit is set up to connect the first pneumatic actuator to a first compressed air buffer when switching to the first passive support mode.
  • the first compressed air buffer preferably has a larger volume than a pressure chamber of the first pneumatic actuator.
  • the exoskeleton further comprises a third exoskeleton element, a fourth exoskeleton element and a second pneumatic actuator, which is mechanically connected to the third exoskeleton element and the fourth exoskeleton element, wherein the control unit is further set up to control the second pneumatic actuator between a second active support mode and a second passive support mode, in which the second pneumatic actuator is not vented into the environment, and the control unit is further set up to switch from the second passive support mode to the second active support mode when a in the second passive support mode, the pressure level that can be provided is removed from a target pressure level dependent on the movement carried out or a pose taken by more than a threshold value, and to cause a release of compressed air to the environment or a supply of compressed air from a compressed air source to the second pneumatic actuator.
  • the control unit is further set up to control the second pneumatic actuator between a second active support mode and a second passive support mode, in which the second pneumatic actuator is not vented into the environment, and the control unit is further set up to switch
  • the target pressure level which depends on the movement performed or the pose adopted, may be the same or different for both pneumatic actuators.
  • the target pressure level (at a certain point in time) can be the same for both pneumatic actuators if the second pneumatic actuator is installed "mirror-symmetrically" to the first pneumatic actuator and the user executes a movement or assumes a pose that is characterized by mirror symmetry to the central axis of the body .
  • the target pressure level can also be different for both pneumatic actuators if the second pneumatic actuator is installed "mirror-symmetrical" to the first pneumatic actuator and the user executes a movement or assumes a pose that is characterized by mirror symmetry to the central axis of the body when the user an injury, a sign of wear or (strongly) asymmetrically developed muscles require (significantly) more support force on one side than on the other side or if an external force acts unilaterally on the user (e.g. the weight of an object).
  • control unit is set up to connect the second pneumatic actuator to a second compressed air buffer when switching to the second passive support mode.
  • control unit is set up to direct compressed air from the first compressed air buffer into the second compressed air buffer and/or to direct compressed air from the second compressed air buffer into the first compressed air buffer depending on the pressure levels and the target pressure levels.
  • compressed air consumption can be reduced because compressed air is not released into the environment, but is redirected in a compressed air buffer network according to current (or future) requirements.
  • control unit is set up to separate the first pneumatic actuator from the first compressed air buffer and to connect it to the second compressed air buffer and/or to separate the second pneumatic actuator from the second compressed air buffer depending on the pressure levels and the target pressure levels and to connect to the first compressed air buffer.
  • control unit is set up to control an electro-pneumatic valve in the active support mode, via which compressed air can be supplied to the first pneumatic actuator.
  • the pressure chamber of the first pneumatic actuator can be connected via the valve to a compressed air source (which can be refilled, for example, using a compressor), so that when the valve is opened, compressed air flows from the compressed air source into the pressure chamber.
  • a compressed air source which can be refilled, for example, using a compressor
  • control unit is set up to adapt a first support force provided by the first pneumatic actuator in the active support mode to the movement carried out.
  • the first pneumatic actuator is connected to the first exoskeleton element via a non-linear mechanical transmission.
  • the non-linear mechanical translation can, for example, be designed in such a way that in the environment of a rest position (e.g. arm down) the one perceived by the user Force is significantly reduced at a constant pressure level of the respective pneumatic actuator and so the actuator can be operated with a relatively constant pressure level over the entire range of motion.
  • an exoskeleton comprises a first exoskeleton element, a second exoskeleton element, a gas pressure spring which is connected and set up with the first exoskeleton element and the second exoskeleton element , to absorb and store energy during a movement supported by gravity and to support a movement against gravity by releasing the stored energy, and a control unit which is set up to change the level of support provided by the gas pressure spring by increasing or reducing the gas pressure to effect.
  • the gas pressure spring is connected to the first exoskeleton element via a non-linear mechanical translation.
  • the support level can be manually adjusted by a user of the exoskeleton via the control unit.
  • An exoskeleton comprises a plurality of exoskeleton elements, a compressor, a compressed air storage container, a first pneumatic actuator, a second pneumatic actuator, a compressed air buffer network with at least two compressed air buffers, and a control unit, wherein the compressor with is connected to the compressed air storage container and is set up to fill the compressed air storage container with compressed air, the control unit is set up to monitor the pressure in the pneumatic actuators and the compressed air buffers and if a first supporting force provided by the first pneumatic actuator is to be reduced , to determine whether the first pneumatic actuator is to be vented into the environment or into the compressed air buffer network, and, if a second assist force provided by the second pneumatic actuator is to be increased, to determine whether the second pneumatic actuator is to be vented compressed air must be supplied to the compressed air storage container and/or from the compressed air buffer network.
  • control unit is set up if a first support force is to be reduced and at the same time the second support force is to be increased, that compressed air is supplied from the first pneumatic actuator via the compressed air buffer network to the second pneumatic actuator when a pressure chamber of the first pneumatic actuator to be vented is under greater pressure than a pressure chamber of the second pneumatic actuator to be fed.
  • Fig. 1 shows an exoskeleton 10, which includes a plurality of rigid exoskeleton elements 12, which are connected by connecting elements, such as. B. joints 14, are coupled to one another in series.
  • the exoskeleton 10 is divided into several sections, each section being modeled on the corresponding sections of the human body with regard to the permitted/guided movements of the exoskeleton elements 12, 12a, 12b forming the respective section relative to one another. That's how it is Fig. 1 Exoskeleton 10 shown is divided into a base section 16 and an arm section 18, which are connected to one another by a shoulder section 20. Although in Fig. 1 not shown, the exoskeleton 10 may also have a leg section. Furthermore, it goes without saying that an exoskeleton 10 according to the invention also only may have one or some of the sections described and that in Fig. 1 Exoskeleton 10 shown is therefore only to be understood as an example of an exoskeleton 10.
  • the base section 16, the arm section 18 and the shoulder section 20 each include one or more rigid or flexible connection elements 22 (e.g. straps), which when used in the hip/pubic bone area or rest against the arm/shoulder/chest area of the user or (partially) grip or enclose it.
  • the position or the extent of said connecting elements 22 can be adjustable in order to be able to adapt the exoskeleton 10 to different users.
  • the exoskeleton elements 12 of the base section 16 are modeled on the vertebrae of a human spine with regard to the permitted/guided movements of the exoskeleton elements 12 forming the base section 16 relative to one another.
  • the base section 16 includes serially coupled exoskeleton elements 12, with two exoskeleton elements 12 being coupled to one another via a joint 14, the joint 14 being set up to enable (or force) a relative movement of the exoskeleton elements 12. , which corresponds to the movement of one or more corresponding vertebrae of a user's spine.
  • the exoskeleton 12 may further include one or more sensors for determining the position and/or orientation of the exoskeleton elements 12 of the base portion 16 (relative to one another and/or to a particular terrestrial or body-fixed coordinate system).
  • the exoskeleton elements 12a, 12b of the arm section 18 are modeled on the upper arm bone and the forearm bone of the human skeleton with regard to the permitted/guided movements of the exoskeleton elements 12 forming the arm section 18 relative to one another.
  • the arm section 18 comprises a first exoskeleton element 12a, which is coupled to a second exoskeleton element 12b via a first joint 14a.
  • the first exoskeleton element 12a is also coupled via a second joint 14b to the shoulder section 20, which in turn is coupled to an exoskeleton element 12 of the base section 16 via a third joint 14c.
  • the exoskeleton 12 may further include one or more sensors for determining the position and/or orientation of the exoskeleton elements 12a, 12b of the arm portion 18 (relative to one another and/or to a specific earth- or body-fixed coordinate system).
  • the exoskeleton 10 also includes a compressed air source 24 (e.g. a compressor or a compressed air reservoir, which can optionally be refilled by a compressor during operation) and a control unit 26.
  • the control unit 26 can cause compressed air (or a volume flow dm/dt), which is provided by the compressed air source 24, to be directed into the pressure chamber 30 of a first pneumatic actuator 32 by controlling a first valve 28. Since the first pneumatic actuator 32 is mechanically connected to the first exoskeleton element 12a and the second exoskeleton element 12b (via two joints 34), by supplying compressed air through the first valve 28 or by venting the pressure chamber 30 through the second valve 36 a force supporting arm bending can be increased or reduced.
  • the control unit 26 is set up to switch between a first active support mode A and a first passive support mode B, in which the first pneumatic actuator 28 is not vented into the environment, when controlling the first pneumatic actuator 32.
  • the control unit 26 measures the pressure level P and switches from the passive support mode B to the active support mode A if the pressure level P that can be provided in the passive support mode B differs from the target pressure level S, which is dependent on the movement carried out or the pose taken, by more than a threshold value Y removed.
  • the control unit 26 switches to the active support mode A.
  • active support mode A compressed air is released into the environment through the second valve 36, whereby the pressure level P in the pressure chamber 30 is reduced.
  • the control unit 26 switches back to passive support mode A. If the user at time t4 begins to raise the forearm, the target pressure level S increases, whereas the pressure P in the pressure chamber 30 decreases because the air in the pressure chamber 30 expands.
  • the control unit 26 Since the pressure level P at time t5 is more than the threshold value Y away from the target pressure level S, the control unit 26 switches back to the active support mode A and directs compressed air from the compressed air source 24 through the first valve 28 into the pressure chamber 30 of the first pneumatic actuator. At time t6, the control unit 26 switches back to the passive support mode Bum.
  • the pressure chamber 30 of the first pneumatic actuator 32 in the passive support mode B can be connected to a first compressed air buffer 40 via a third valve 38, whereby the pressure level P changes less when the user moves and the frequency of switching to active Support mode A and/or the duration of the phases in which the active support mode is active can be reduced. Furthermore, the range of motion can be increased by providing a non-linear mechanical translation, in that the non-linear mechanical translation ensures that the support force acting on the user changes less (in percentage terms) than the pressure level when the user moves.
  • the first pneumatic actuator 32 is operated as a gas pressure spring, whereby the spring constant can be adjusted by connecting the pressure chamber 30 to the compressed air buffer 40 but also by temporarily activating the active support mode A.
  • the first compressed air buffer 40 is connected via a fourth valve 42 to a second compressed air buffer (not shown) or a pressure chamber of a second pneumatic actuator (not shown), whereby instead of switching to the active support mode A
  • the compressed air used can be diverted or recycled.
  • a fifth valve 44 can be provided in this configuration, which makes it possible to vent the first compressed air buffer 40 independently of the pressure chamber 30.
  • an arrangement of compressed air buffers 40, 46 and valves 28, 26, 38, 42, 44, 48 may be provided, which allows different compressed air buffers 40, 46 to be connected to a pressure chamber 30.
  • the third valve 38 can be closed and the second Valve 36 can be opened when the second compressed air buffer 46 has a higher pressure than the first compressed air buffer 40.
  • Fig. 6 shows a flow chart in which, if the pressure level P is more than the threshold value Y away from the target pressure level S, a decision is made as to whether the pressure chamber 30 is vented into a compressed air buffer 40, 46 or into the environment or whether compressed air is provided from a compressed air buffer 40, 46 or the compressed air source 24.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)

Claims (2)

  1. Exosquelette (10), comprenant :
    une pluralité d'éléments d'exosquelette (12, 12a, 12b) ;
    un compresseur ;
    un réservoir de stockage d'air comprimé ;
    un premier actionneur pneumatique (32) ;
    un second actionneur pneumatique ;
    un réseau d'accumulateurs intermédiaires d'air comprimé (40, 46) avec au moins deux accumulateurs intermédiaires d'air comprimé (40, 46) ; et
    un dispositif de commande (26) ; dans lequel
    le compresseur est relié au réservoir de stockage d'air comprimé et conçu pour remplir le réservoir de stockage d'air comprimé avec de l'air comprimé ;
    le dispositif de commande (26) est conçu pour surveiller la pression dans l'actionneur pneumatique (32) et les accumulateurs intermédiaires d'air comprimé (40, 46) ; et
    lorsqu'une première force d'appui mise à disposition par le premier actionneur pneumatique (32) doit être réduite, pour déterminer si le premier actionneur pneumatique (32) doit être purgé dans l'environnement immédiat ou dans le réseau d'accumulateurs intermédiaires d'air comprimé (40, 46) ; et
    lorsqu'une seconde force d'appui mise à disposition par le second actionneur pneumatique doit être augmentée, pour déterminer si de l'air comprimé doit être conduit au second actionneur pneumatique à partir du réservoir de stockage d'air comprimé et/ou à partir du réseau d'accumulateurs intermédiaires d'air comprimé (40, 46).
  2. Exosquelette (10) selon la revendication 1, dans lequel le dispositif de commande (26) est conçu pour faire en sorte, lorsqu'une première force d'appui doit être réduite et en même temps lorsque la seconde force d'appui doit être augmentée, que de l'air comprimé soit conduit du premier actionneur pneumatique (32) vers le second actionneur pneumatique par le biais du réseau d'accumulateurs intermédiaires d'air comprimé (40, 46) lorsqu'une chambre de pression (30) à purger du premier actionneur pneumatique (32) est soumise à une pression supérieure à celle d'une chambre de pression à alimenter du second actionneur pneumatique.
EP20742181.9A 2019-07-12 2020-07-07 Exosquelette doté d'un actionneur pneumatique Active EP3996879B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019119033.9A DE102019119033A1 (de) 2019-07-12 2019-07-12 Exoskelett mit einem pneumatischem aktor
PCT/EP2020/069151 WO2021008948A2 (fr) 2019-07-12 2020-07-07 Exosquelette doté d'un actionneur pneumatique

Publications (2)

Publication Number Publication Date
EP3996879A2 EP3996879A2 (fr) 2022-05-18
EP3996879B1 true EP3996879B1 (fr) 2024-03-27

Family

ID=71661817

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20742181.9A Active EP3996879B1 (fr) 2019-07-12 2020-07-07 Exosquelette doté d'un actionneur pneumatique

Country Status (4)

Country Link
US (1) US20220258328A1 (fr)
EP (1) EP3996879B1 (fr)
DE (1) DE102019119033A1 (fr)
WO (1) WO2021008948A2 (fr)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5662693A (en) * 1995-06-05 1997-09-02 The United States Of America As Represented By The Secretary Of The Air Force Mobility assist for the paralyzed, amputeed and spastic person
DE102008045113B4 (de) * 2008-09-01 2011-08-25 Otto Bock HealthCare GmbH, 37115 Prothesenkniegelenk und Verfahren zum Betreiben eines Prothesenkniegelenkes
EP2346467B1 (fr) * 2008-09-24 2019-07-17 Ekso Bionics, Inc. Systèmes d'actionnement de hanche et de genou pour dispositifs orthétiques de membres inférieurs
US10406676B2 (en) * 2014-05-06 2019-09-10 Sarcos Lc Energy recovering legged robotic device
ES2575255B1 (es) * 2014-11-27 2017-04-06 Consejo Superior De Investigaciones Científicas (Csic) Exoesqueleto para asistencia al movimiento humano
WO2016134103A1 (fr) * 2015-02-18 2016-08-25 The Regents Of The University Of California Procédé et système de commande semi-passive pour orthèses d'assistance
TWI584801B (zh) * 2016-04-15 2017-06-01 龍華科技大學 氣壓肌肉驅動兼具上肢助力與復健訓練功能之外骨骼裝置
EP3474788B1 (fr) * 2016-06-24 2021-05-12 The Regents of The University of California Articulation robotisée semi-active.
DE102016123797A1 (de) * 2016-12-08 2018-06-14 Bayerische Motoren Werke Aktiengesellschaft Exoskelett
DE102017112436B4 (de) * 2017-06-06 2019-05-29 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers

Also Published As

Publication number Publication date
DE102019119033A1 (de) 2021-01-14
EP3996879A2 (fr) 2022-05-18
WO2021008948A3 (fr) 2021-04-08
WO2021008948A2 (fr) 2021-01-21
US20220258328A1 (en) 2022-08-18

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